fix a bug of multiCamCalib.cpp

modules/ccalib/include/opencv2/multiCameraCalibration.hpp

@@ -126,6 +126,7 @@ public:
     @patternHeight the physical height of pattern, in user defined unit.
     @showExtration whether show extracted features and feature filtering.
     @nMiniMatches minimal number of matched features for a frame.
+	@flags Calibration flags
     @criteria optimization stopping criteria.
     @detector feature detector that detect feature points in pattern and images.
     @descriptor feature descriptor.
@@ -133,9 +134,9 @@ public:
     */
     multiCameraCalibration(int cameraType, int nCameras, const std::string& fileName, float patternWidth,
         float patternHeight, int showExtration = 0, int nMiniMatches = 20, int flags = 0,
-        TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 300, 1e-7),
-        Ptr<FeatureDetector> detector = AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.002f),
-        Ptr<DescriptorExtractor> descriptor = AKAZE::create(AKAZE::DESCRIPTOR_MLDB,0, 3, 0.002f),
+        TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, 1e-5),
+        Ptr<FeatureDetector> detector = AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.005f),
+        Ptr<DescriptorExtractor> descriptor = AKAZE::create(AKAZE::DESCRIPTOR_MLDB,0, 3, 0.005f),
         Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-L1"));
 
     /* @brief load images

modules/ccalib/sample/multiCamCalib.cpp

@@ -6,7 +6,7 @@ using namespace std;
 using namespace cv;
 
 const char * usage =
-"\n example command line for multi-camera calibrsation by using random pattern \n"
+"\n example command line for multi-camera calibration by using random pattern \n"
 "   multiCamCalib -nc 5 -pw 800 -ph 600 -ct 1 -fe 0 -nm 10 multi_camera.xml \n"
 "\n"
 " the file multi_camera.xml is generated by imagelist_creator as \n"

modules/ccalib/sample/omniCalibration.cpp

 #include"opencv2/omnidir.hpp"
 #include"opencv2/core/core.hpp"
 #include"opencv2/imgproc/imgproc.hpp"
-#include"opencv2/highgui/highgui.hpp"
+#include "opencv2/highgui/highgui.hpp"
 #include <vector>
 #include <iostream>
 #include <string>
@@ -247,7 +247,7 @@ int main(int argc, char** argv)
     Mat K, D, xi, idx;
     vector<Vec3d> rvecs, tvecs;
     double _xi, rms;
-    TermCriteria criteria(3, 100, 1e-4);
+    TermCriteria criteria(3, 200, 1e-8);
     rms = omnidir::calibrate(objectPoints, imagePoints, imageSize, K, xi, D, rvecs, tvecs, flags, criteria, idx);
     _xi = xi.at<double>(0);
     saveCameraParams(outputFilename, imageSize, boardSize, square_width, square_height, flags, K, D, _xi,

modules/ccalib/sample/omniStereoCalibration.cpp

-#include "opencv2/omnidir.hpp"
-#include "opencv2/core/core.hpp"
-#include "opencv2/imgproc/imgproc.hpp"
+#include"opencv2/omnidir.hpp"
+#include"opencv2/core/core.hpp"
+#include"opencv2/imgproc/imgproc.hpp"
 #include "opencv2/highgui/highgui.hpp"
 #include <vector>
 #include <iostream>
@@ -12,7 +12,7 @@ using namespace std;
 
 const char * usage =
 	"\n example command line for calibrate a pair of omnidirectional camera.\n"
-	"    omniStereoCalibration -w 6 -h 7 -sw 80 -sh 80 image_list_1.xml image_list_2.xml\n"
+	"    omniStereoCalibration -w 8 -h 6 -sw 2.4399 -sh 2.4399 imagelist_left.xml imagelist_right.xml\n"
 	" \n"
 	" the file image_list_1.xml and image_list_2.xml generated by imagelist_creator as\n"
 	"imagelist_creator image_list_1.xml *.*";
@@ -53,7 +53,7 @@ static void calcChessboardCorners(Size boardSize, double square_width, double sq
 
 static bool detecChessboardCorners(const vector<string>& list1, vector<string>& list_detected_1,
     const vector<string>& list2, vector<string>& list_detected_2,
-    vector<Mat>& image_points_1, vector<Mat>& image_points_2, Size boardSize, Size& imageSize)
+    vector<Mat>& image_points_1, vector<Mat>& image_points_2, Size boardSize, Size& imageSize1, Size& imageSize2)
 {
     image_points_1.resize(0);
     image_points_2.resize(0);
@@ -81,7 +81,11 @@ static bool detecChessboardCorners(const vector<string>& list1, vector<string>&
         }
     }
     if (!img_l.empty())
-        imageSize = img_l.size();
+        imageSize1 = img_l.size();
+	if (!img_r.empty())
+	{
+		imageSize2 = img_r.size();
+	}
 
     if (image_points_1.size() < 3)
         return false;
@@ -104,8 +108,7 @@ static bool readStringList( const string& filename, vector<string>& l )
     return true;
 }
 
-static void saveCameraParams( const string & filename, Size imageSize, Size boardSize, double square_width,
-    double square_height, int flags, const Mat& cameraMatrix1, const Mat& cameraMatrix2, const Mat& distCoeffs1,
+static void saveCameraParams( const string & filename, const int flags, const Mat& cameraMatrix1, const Mat& cameraMatrix2, const Mat& distCoeffs1,
     const Mat& disCoeffs2, const double xi1, const double xi2, const Vec3d rvec, const Vec3d tvec,
     const vector<Vec3d>& rvecs, const vector<Vec3d>& tvecs, vector<string> detec_list_1, vector<string> detec_list_2,
     const Mat& idx, const double rms, const vector<Mat>& imagePoints1, const vector<Mat>& imagePoints2)
@@ -208,7 +211,7 @@ static void saveCameraParams( const string & filename, Size imageSize, Size boar
 
 int main(int argc, char** argv)
 {
-    Size boardSize, imageSize;
+    Size boardSize, imageSize1, imageSize2;
     int flags = 0;
     double square_width, square_height;
     const char* outputFilename = "out_camera_params_stereo.xml";
@@ -283,7 +286,7 @@ int main(int argc, char** argv)
     // find corners in images
     // some images may be failed in automatic corner detection, passed cases are in detec_list
     if(!detecChessboardCorners(image_list1, detec_list_1, image_list2, detec_list_2,
-        imagePoints1, imagePoints2, boardSize, imageSize))
+        imagePoints1, imagePoints2, boardSize, imageSize1, imageSize2))
         return fprintf(stderr, "Not enough corner detected images\n"), -1;
 
     // calculate object coordinates
@@ -300,13 +303,12 @@ int main(int argc, char** argv)
     vector<Vec3d> rvecs, tvecs;
     Vec3d rvec, tvec;
     double _xi1, _xi2, rms;
-    TermCriteria criteria(3, 100, 1e-4);
-    rms = omnidir::stereoCalibrate(objectPoints, imagePoints1, imagePoints2, imageSize, K1, xi1, D1,
+    TermCriteria criteria(3, 200, 1e-8);
+    rms = omnidir::stereoCalibrate(objectPoints, imagePoints1, imagePoints2, imageSize1, imageSize2, K1, xi1, D1,
         K2, xi2, D2, rvec, tvec, rvecs, tvecs, flags, criteria, idx);
     _xi1 = xi1.at<double>(0);
     _xi2 = xi2.at<double>(0);
 
-    saveCameraParams(outputFilename, imageSize, boardSize, square_width, square_height, flags,
-        K1, K2, D1, D2, _xi1, _xi2, rvec, tvec, rvecs, tvecs, detec_list_1, detec_list_2, idx, rms,
-        imagePoints1, imagePoints2);
+    saveCameraParams(outputFilename, flags, K1, K2, D1, D2, _xi1, _xi2, rvec, tvec, rvecs, tvecs,
+		detec_list_1, detec_list_2, idx, rms, imagePoints1, imagePoints2);
 }
\ No newline at end of file

modules/ccalib/src/multiCameraCalibration.cpp

@@ -139,6 +139,7 @@ void multiCameraCalibration::loadImages()
 
     std::vector<std::vector<std::string> > filesEachCameraFull(_nCamera);
     std::vector<std::vector<int> > timestampFull(_nCamera);
+	std::vector<std::vector<int> > timestampAvailable(_nCamera);
 
     for (int i = 1; i < (int)file_list.size(); ++i)
     {
@@ -170,8 +171,12 @@ void multiCameraCalibration::loadImages()
         {
             image = imread(filesEachCameraFull[camera][imgIdx], IMREAD_GRAYSCALE);
             std::vector<Mat> imgObj = finder.computeObjectImagePointsForSingle(image);
-            _imagePointsForEachCamera[camera].push_back(imgObj[0]);
-            _objectPointsForEachCamera[camera].push_back(imgObj[1]);
+			if ((int)imgObj[0].total() > _nMiniMatches)
+			{
+				_imagePointsForEachCamera[camera].push_back(imgObj[0]);
+				_objectPointsForEachCamera[camera].push_back(imgObj[1]);
+				timestampAvailable[camera].push_back(timestampFull[camera][imgIdx]);
+			}
         }
 
         // calibrate
@@ -216,33 +221,31 @@ void multiCameraCalibration::loadImages()
 
         for (int i = 0; i < (int)_omEachCamera[camera].size(); ++i)
         {
-            if ((int)_objectPointsForEachCamera[camera][idx.at<int>(i)].total() > _nMiniMatches)
-            {
-                int cameraVertex, timestamp, photoVertex;
-                cameraVertex = camera;
-                timestamp = timestampFull[camera][idx.at<int>(i)];
-
-                photoVertex = this->getPhotoVertex(timestamp);
-
-                if (_omEachCamera[camera][i].type()!=CV_32F)
-                {
-                    _omEachCamera[camera][i].convertTo(_omEachCamera[camera][i], CV_32F);
-                }
-                if (_tEachCamera[camera][i].type()!=CV_32F)
-                {
-                    _tEachCamera[camera][i].convertTo(_tEachCamera[camera][i], CV_32F);
-                }
-
-                Mat transform = Mat::eye(4, 4, CV_32F);
-                Mat R, T;
-                Rodrigues(_omEachCamera[camera][i], R);
-                T = (_tEachCamera[camera][i]).reshape(1, 3);
-                R.copyTo(transform.rowRange(0, 3).colRange(0, 3));
-                T.copyTo(transform.rowRange(0, 3).col(3));
-
-                this->_edgeList.push_back(edge(cameraVertex, photoVertex, idx.at<int>(i), transform));
-            }
+			int cameraVertex, timestamp, photoVertex;
+			cameraVertex = camera;
+			timestamp = timestampAvailable[camera][idx.at<int>(i)];
+
+			photoVertex = this->getPhotoVertex(timestamp);
+
+			if (_omEachCamera[camera][i].type()!=CV_32F)
+			{
+				_omEachCamera[camera][i].convertTo(_omEachCamera[camera][i], CV_32F);
+			}
+			if (_tEachCamera[camera][i].type()!=CV_32F)
+			{
+				_tEachCamera[camera][i].convertTo(_tEachCamera[camera][i], CV_32F);
+			}
+
+			Mat transform = Mat::eye(4, 4, CV_32F);
+			Mat R, T;
+			Rodrigues(_omEachCamera[camera][i], R);
+			T = (_tEachCamera[camera][i]).reshape(1, 3);
+			R.copyTo(transform.rowRange(0, 3).colRange(0, 3));
+			T.copyTo(transform.rowRange(0, 3).col(3));
+
+			this->_edgeList.push_back(edge(cameraVertex, photoVertex, idx.at<int>(i), transform));
         }
+		std::cout << "initialized for camera " << camera << " rms = " << rms << std::endl;
     }
 
 }
@@ -355,6 +358,7 @@ double multiCameraCalibration::optimizeExtrinsics()
         }
 
         extrinParam = extrinParam + G.reshape(1, 1);
+
         change = norm(G) / norm(extrinParam);
         //double error = computeProjectError(extrinParam);
     }

modules/ccalib/src/omnidir.cpp

@@ -1638,7 +1638,7 @@ void cv::omnidir::internal::encodeParameters(InputArray K, InputArrayOfArrays om
     CV_Assert(distoaration.total() == 4 && distoaration.type() == CV_64F);
     int n = (int)omAll.total();
     Mat _omAll = omAll.getMat(), _tAll = tAll.getMat();
-    Mat tmp = Mat(_omAll.at<Vec3d>(0)).reshape(1,3).clone();
+
     Matx33d _K = K.getMat();
     Vec4d _D = (Vec4d)distoaration.getMat();
     parameters.create(1, 10+6*n,CV_64F);